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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="classPxArticulationJoint-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">PxArticulationJoint Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="group__physics.html">Physics</a></div></div>  </div>
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<p>a joint between two links in an articulation.  
 <a href="classPxArticulationJoint.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxArticulationJoint_8h_source.html">PxArticulationJoint.h</a>&gt;</code></p>
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Inheritance diagram for PxArticulationJoint:</div>
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<div class="center"><img src="classPxArticulationJoint__inherit__graph.png" border="0" usemap="#PxArticulationJoint_inherit__map" alt="Inheritance graph"/></div>
<map name="PxArticulationJoint_inherit__map" id="PxArticulationJoint_inherit__map">
<area shape="rect" id="node2" href="classPxArticulationJointBase.html" title="PxArticulationJointBase" alt="" coords="5,80,165,107"/>
<area shape="rect" id="node3" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. " alt="" coords="51,5,119,32"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for PxArticulationJoint:</div>
<div class="dyncontent">
<div class="center"><img src="classPxArticulationJoint__coll__graph.png" border="0" usemap="#PxArticulationJoint_coll__map" alt="Collaboration graph"/></div>
<map name="PxArticulationJoint_coll__map" id="PxArticulationJoint_coll__map">
<area shape="rect" id="node2" href="classPxArticulationJointBase.html" title="PxArticulationJointBase" alt="" coords="5,185,165,212"/>
<area shape="rect" id="node3" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. " alt="" coords="51,109,119,136"/>
<area shape="rect" id="node4" href="classPxFlags.html" title="PxFlags\&lt; PxBaseFlag\l::Enum, PxU16 \&gt;" alt="" coords="9,5,162,47"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac6f12118dc05485815cbe08df956b05c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ac6f12118dc05485815cbe08df956b05c">setTargetOrientation</a> (const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;orientation)=0</td></tr>
<tr class="memdesc:ac6f12118dc05485815cbe08df956b05c"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the target drive  <a href="#ac6f12118dc05485815cbe08df956b05c">More...</a><br /></td></tr>
<tr class="separator:ac6f12118dc05485815cbe08df956b05c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4705fe257b6620f399081f52c13ffd25"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxQuat.html">PxQuat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a4705fe257b6620f399081f52c13ffd25">getTargetOrientation</a> () const =0</td></tr>
<tr class="memdesc:a4705fe257b6620f399081f52c13ffd25"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the target drive position  <a href="#a4705fe257b6620f399081f52c13ffd25">More...</a><br /></td></tr>
<tr class="separator:a4705fe257b6620f399081f52c13ffd25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a469427827733f35ba286f88b0e48984d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a469427827733f35ba286f88b0e48984d">setTargetVelocity</a> (const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;velocity)=0</td></tr>
<tr class="memdesc:a469427827733f35ba286f88b0e48984d"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the target drive velocity  <a href="#a469427827733f35ba286f88b0e48984d">More...</a><br /></td></tr>
<tr class="separator:a469427827733f35ba286f88b0e48984d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa58bb8f6d97492b4ab1b5c2708fb471f"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxVec3.html">PxVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#aa58bb8f6d97492b4ab1b5c2708fb471f">getTargetVelocity</a> () const =0</td></tr>
<tr class="memdesc:aa58bb8f6d97492b4ab1b5c2708fb471f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the target drive velocity  <a href="#aa58bb8f6d97492b4ab1b5c2708fb471f">More...</a><br /></td></tr>
<tr class="separator:aa58bb8f6d97492b4ab1b5c2708fb471f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9ca201e90b380133e8913fb756a52e2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ad9ca201e90b380133e8913fb756a52e2">setDriveType</a> (<a class="el" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> driveType)=0</td></tr>
<tr class="memdesc:ad9ca201e90b380133e8913fb756a52e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the drive type  <a href="#ad9ca201e90b380133e8913fb756a52e2">More...</a><br /></td></tr>
<tr class="separator:ad9ca201e90b380133e8913fb756a52e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ce41d3bb9b9431cc9c7befa5be8047b"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a4ce41d3bb9b9431cc9c7befa5be8047b">getDriveType</a> () const =0</td></tr>
<tr class="memdesc:a4ce41d3bb9b9431cc9c7befa5be8047b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the drive type  <a href="#a4ce41d3bb9b9431cc9c7befa5be8047b">More...</a><br /></td></tr>
<tr class="separator:a4ce41d3bb9b9431cc9c7befa5be8047b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae00f55560d4d4b78a20d97b20e39dafb"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ae00f55560d4d4b78a20d97b20e39dafb">setStiffness</a> (PxReal <a class="el" href="PxConstraintDesc_8h.html#ab545718d2685b45ef4df86c181ca0baa">spring</a>)=0</td></tr>
<tr class="memdesc:ae00f55560d4d4b78a20d97b20e39dafb"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the drive strength of the joint acceleration spring.  <a href="#ae00f55560d4d4b78a20d97b20e39dafb">More...</a><br /></td></tr>
<tr class="separator:ae00f55560d4d4b78a20d97b20e39dafb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae11979e97274ce2fa604db8615dc5b71"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ae11979e97274ce2fa604db8615dc5b71">getStiffness</a> () const =0</td></tr>
<tr class="memdesc:ae11979e97274ce2fa604db8615dc5b71"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the drive strength of the joint acceleration spring  <a href="#ae11979e97274ce2fa604db8615dc5b71">More...</a><br /></td></tr>
<tr class="separator:ae11979e97274ce2fa604db8615dc5b71"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9a7c940a51ae6df5e7e2370692a1f4b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ae9a7c940a51ae6df5e7e2370692a1f4b">setDamping</a> (PxReal <a class="el" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>)=0</td></tr>
<tr class="memdesc:ae9a7c940a51ae6df5e7e2370692a1f4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the damping of the joint acceleration spring  <a href="#ae9a7c940a51ae6df5e7e2370692a1f4b">More...</a><br /></td></tr>
<tr class="separator:ae9a7c940a51ae6df5e7e2370692a1f4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a153604ccd3174c8bb417dc83a06bf2da"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a153604ccd3174c8bb417dc83a06bf2da">getDamping</a> () const =0</td></tr>
<tr class="memdesc:a153604ccd3174c8bb417dc83a06bf2da"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the damping of the joint acceleration spring  <a href="#a153604ccd3174c8bb417dc83a06bf2da">More...</a><br /></td></tr>
<tr class="separator:a153604ccd3174c8bb417dc83a06bf2da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a023d58f64e1e29a984beb935ca2a4f54"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a023d58f64e1e29a984beb935ca2a4f54">setInternalCompliance</a> (PxReal compliance)=0</td></tr>
<tr class="memdesc:a023d58f64e1e29a984beb935ca2a4f54"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the internal compliance  <a href="#a023d58f64e1e29a984beb935ca2a4f54">More...</a><br /></td></tr>
<tr class="separator:a023d58f64e1e29a984beb935ca2a4f54"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac773f11ee13400595c0392e027f9a0a2"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ac773f11ee13400595c0392e027f9a0a2">getInternalCompliance</a> () const =0</td></tr>
<tr class="memdesc:ac773f11ee13400595c0392e027f9a0a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the internal compliance  <a href="#ac773f11ee13400595c0392e027f9a0a2">More...</a><br /></td></tr>
<tr class="separator:ac773f11ee13400595c0392e027f9a0a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acba73835e3bdfb85a362e59ba979a959"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#acba73835e3bdfb85a362e59ba979a959">setExternalCompliance</a> (PxReal compliance)=0</td></tr>
<tr class="memdesc:acba73835e3bdfb85a362e59ba979a959"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the drive external compliance  <a href="#acba73835e3bdfb85a362e59ba979a959">More...</a><br /></td></tr>
<tr class="separator:acba73835e3bdfb85a362e59ba979a959"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69ecdfb49624645217280df2430009e5"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a69ecdfb49624645217280df2430009e5">getExternalCompliance</a> () const =0</td></tr>
<tr class="memdesc:a69ecdfb49624645217280df2430009e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the drive external compliance  <a href="#a69ecdfb49624645217280df2430009e5">More...</a><br /></td></tr>
<tr class="separator:a69ecdfb49624645217280df2430009e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12544e79ee2ef6ff061e6a3a9e1e65c8"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a12544e79ee2ef6ff061e6a3a9e1e65c8">setSwingLimit</a> (PxReal zLimit, PxReal yLimit)=0</td></tr>
<tr class="memdesc:a12544e79ee2ef6ff061e6a3a9e1e65c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the extents of the cone limit. The extents are measured in the frame of the parent.  <a href="#a12544e79ee2ef6ff061e6a3a9e1e65c8">More...</a><br /></td></tr>
<tr class="separator:a12544e79ee2ef6ff061e6a3a9e1e65c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04c80251726b0706cc85960d6c960a6d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a04c80251726b0706cc85960d6c960a6d">getSwingLimit</a> (PxReal &amp;zLimit, PxReal &amp;yLimit) const =0</td></tr>
<tr class="memdesc:a04c80251726b0706cc85960d6c960a6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the extents for the swing limit cone  <a href="#a04c80251726b0706cc85960d6c960a6d">More...</a><br /></td></tr>
<tr class="separator:a04c80251726b0706cc85960d6c960a6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf1f03b5945c8db6103f6529736af5a8"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#adf1f03b5945c8db6103f6529736af5a8">setTangentialStiffness</a> (PxReal <a class="el" href="PxConstraintDesc_8h.html#ab545718d2685b45ef4df86c181ca0baa">spring</a>)=0</td></tr>
<tr class="memdesc:adf1f03b5945c8db6103f6529736af5a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the tangential spring for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0)  <a href="#adf1f03b5945c8db6103f6529736af5a8">More...</a><br /></td></tr>
<tr class="separator:adf1f03b5945c8db6103f6529736af5a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b48e04c7a64696142a227a971410095"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a6b48e04c7a64696142a227a971410095">getTangentialStiffness</a> () const =0</td></tr>
<tr class="memdesc:a6b48e04c7a64696142a227a971410095"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the tangential spring for the swing limit cone  <a href="#a6b48e04c7a64696142a227a971410095">More...</a><br /></td></tr>
<tr class="separator:a6b48e04c7a64696142a227a971410095"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ba1951c929b003bf57dcea26756bf9f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a9ba1951c929b003bf57dcea26756bf9f">setTangentialDamping</a> (PxReal <a class="el" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>)=0</td></tr>
<tr class="memdesc:a9ba1951c929b003bf57dcea26756bf9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the tangential damping for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0)  <a href="#a9ba1951c929b003bf57dcea26756bf9f">More...</a><br /></td></tr>
<tr class="separator:a9ba1951c929b003bf57dcea26756bf9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d30be935dca3002fa865c258ded66e5"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a2d30be935dca3002fa865c258ded66e5">getTangentialDamping</a> () const =0</td></tr>
<tr class="memdesc:a2d30be935dca3002fa865c258ded66e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the tangential damping for the swing limit cone  <a href="#a2d30be935dca3002fa865c258ded66e5">More...</a><br /></td></tr>
<tr class="separator:a2d30be935dca3002fa865c258ded66e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a909101d144f45f8fd8fbf1e2f01f9072"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a909101d144f45f8fd8fbf1e2f01f9072">setSwingLimitContactDistance</a> (PxReal contactDistance)=0</td></tr>
<tr class="memdesc:a909101d144f45f8fd8fbf1e2f01f9072"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the contact distance for the swing limit  <a href="#a909101d144f45f8fd8fbf1e2f01f9072">More...</a><br /></td></tr>
<tr class="separator:a909101d144f45f8fd8fbf1e2f01f9072"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71c9ff63ac915714b595c184846546a2"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a71c9ff63ac915714b595c184846546a2">getSwingLimitContactDistance</a> () const =0</td></tr>
<tr class="memdesc:a71c9ff63ac915714b595c184846546a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the contact distance for the swing limit  <a href="#a71c9ff63ac915714b595c184846546a2">More...</a><br /></td></tr>
<tr class="separator:a71c9ff63ac915714b595c184846546a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8f06505ec2b8bd187124008f428ce1e"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ac8f06505ec2b8bd187124008f428ce1e">setSwingLimitEnabled</a> (bool enabled)=0</td></tr>
<tr class="memdesc:ac8f06505ec2b8bd187124008f428ce1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the flag which enables the swing limit  <a href="#ac8f06505ec2b8bd187124008f428ce1e">More...</a><br /></td></tr>
<tr class="separator:ac8f06505ec2b8bd187124008f428ce1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01b0447f6c84cdc547f9abd7df7c717c"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a01b0447f6c84cdc547f9abd7df7c717c">getSwingLimitEnabled</a> () const =0</td></tr>
<tr class="memdesc:a01b0447f6c84cdc547f9abd7df7c717c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the flag which enables the swing limit  <a href="#a01b0447f6c84cdc547f9abd7df7c717c">More...</a><br /></td></tr>
<tr class="separator:a01b0447f6c84cdc547f9abd7df7c717c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3fc7d9b7c327b897a0a33c1844f03c4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ae3fc7d9b7c327b897a0a33c1844f03c4">setTwistLimit</a> (PxReal lower, PxReal upper)=0</td></tr>
<tr class="memdesc:ae3fc7d9b7c327b897a0a33c1844f03c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the bounds of the twistLimit  <a href="#ae3fc7d9b7c327b897a0a33c1844f03c4">More...</a><br /></td></tr>
<tr class="separator:ae3fc7d9b7c327b897a0a33c1844f03c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf8d7d469a142c4375b333f159c9ca5b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#aaf8d7d469a142c4375b333f159c9ca5b">getTwistLimit</a> (PxReal &amp;lower, PxReal &amp;upper) const =0</td></tr>
<tr class="memdesc:aaf8d7d469a142c4375b333f159c9ca5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the bounds of the twistLimit  <a href="#aaf8d7d469a142c4375b333f159c9ca5b">More...</a><br /></td></tr>
<tr class="separator:aaf8d7d469a142c4375b333f159c9ca5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0d113b6b62dc07cd06c4d6341ce0608"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#ab0d113b6b62dc07cd06c4d6341ce0608">setTwistLimitEnabled</a> (bool enabled)=0</td></tr>
<tr class="memdesc:ab0d113b6b62dc07cd06c4d6341ce0608"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the flag which enables the twist limit  <a href="#ab0d113b6b62dc07cd06c4d6341ce0608">More...</a><br /></td></tr>
<tr class="separator:ab0d113b6b62dc07cd06c4d6341ce0608"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32aea69d3b9a65c654581a8b55e4f6f1"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a32aea69d3b9a65c654581a8b55e4f6f1">getTwistLimitEnabled</a> () const =0</td></tr>
<tr class="memdesc:a32aea69d3b9a65c654581a8b55e4f6f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the twistLimitEnabled flag  <a href="#a32aea69d3b9a65c654581a8b55e4f6f1">More...</a><br /></td></tr>
<tr class="separator:a32aea69d3b9a65c654581a8b55e4f6f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9c9a92beaf042f7ad7bb3bf95c34b96"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#af9c9a92beaf042f7ad7bb3bf95c34b96">setTwistLimitContactDistance</a> (PxReal contactDistance)=0</td></tr>
<tr class="memdesc:af9c9a92beaf042f7ad7bb3bf95c34b96"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the contact distance for the swing limit  <a href="#af9c9a92beaf042f7ad7bb3bf95c34b96">More...</a><br /></td></tr>
<tr class="separator:af9c9a92beaf042f7ad7bb3bf95c34b96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc1318e01659cd325fae18a2cd482bdb"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#acc1318e01659cd325fae18a2cd482bdb">getTwistLimitContactDistance</a> () const =0</td></tr>
<tr class="memdesc:acc1318e01659cd325fae18a2cd482bdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the contact distance for the swing limit  <a href="#acc1318e01659cd325fae18a2cd482bdb">More...</a><br /></td></tr>
<tr class="separator:acc1318e01659cd325fae18a2cd482bdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8516e8495e829c17c190bf1a013d6f7a"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a8516e8495e829c17c190bf1a013d6f7a">getConcreteTypeName</a> () const</td></tr>
<tr class="memdesc:a8516e8495e829c17c190bf1a013d6f7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns string name of dynamic type.  <a href="#a8516e8495e829c17c190bf1a013d6f7a">More...</a><br /></td></tr>
<tr class="separator:a8516e8495e829c17c190bf1a013d6f7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classPxArticulationJointBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPxArticulationJointBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPxArticulationJointBase.html">PxArticulationJointBase</a></td></tr>
<tr class="memitem:aca7f24a920da5d5e652d4f4ab538866b inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#aca7f24a920da5d5e652d4f4ab538866b">getParentArticulationLink</a> () const =0</td></tr>
<tr class="memdesc:aca7f24a920da5d5e652d4f4ab538866b inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the parent articulation link to which this articulation joint belongs  <a href="classPxArticulationJointBase.html#aca7f24a920da5d5e652d4f4ab538866b">More...</a><br /></td></tr>
<tr class="separator:aca7f24a920da5d5e652d4f4ab538866b inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae27acebf1f55a9e55f01509744dfb8d5 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#ae27acebf1f55a9e55f01509744dfb8d5">setParentPose</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;pose)=0</td></tr>
<tr class="memdesc:ae27acebf1f55a9e55f01509744dfb8d5 inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the joint pose in the parent frame  <a href="classPxArticulationJointBase.html#ae27acebf1f55a9e55f01509744dfb8d5">More...</a><br /></td></tr>
<tr class="separator:ae27acebf1f55a9e55f01509744dfb8d5 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f0fee9104339cdf69b60eb5838d0c07 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxTransform.html">PxTransform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#a7f0fee9104339cdf69b60eb5838d0c07">getParentPose</a> () const =0</td></tr>
<tr class="memdesc:a7f0fee9104339cdf69b60eb5838d0c07 inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the joint pose in the parent frame  <a href="classPxArticulationJointBase.html#a7f0fee9104339cdf69b60eb5838d0c07">More...</a><br /></td></tr>
<tr class="separator:a7f0fee9104339cdf69b60eb5838d0c07 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cf3375c1830aa8d08544354f9914657 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#a4cf3375c1830aa8d08544354f9914657">getChildArticulationLink</a> () const =0</td></tr>
<tr class="memdesc:a4cf3375c1830aa8d08544354f9914657 inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the child articulation link to which this articulation joint belongs  <a href="classPxArticulationJointBase.html#a4cf3375c1830aa8d08544354f9914657">More...</a><br /></td></tr>
<tr class="separator:a4cf3375c1830aa8d08544354f9914657 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac3a11d412eb321dc8394c49108040252 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#ac3a11d412eb321dc8394c49108040252">setChildPose</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;pose)=0</td></tr>
<tr class="memdesc:ac3a11d412eb321dc8394c49108040252 inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the joint pose in the child frame  <a href="classPxArticulationJointBase.html#ac3a11d412eb321dc8394c49108040252">More...</a><br /></td></tr>
<tr class="separator:ac3a11d412eb321dc8394c49108040252 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0972aefc29bc76f255edcb561f2801b1 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxTransform.html">PxTransform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#a0972aefc29bc76f255edcb561f2801b1">getChildPose</a> () const =0</td></tr>
<tr class="memdesc:a0972aefc29bc76f255edcb561f2801b1 inherit pub_methods_classPxArticulationJointBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the joint pose in the child frame  <a href="classPxArticulationJointBase.html#a0972aefc29bc76f255edcb561f2801b1">More...</a><br /></td></tr>
<tr class="separator:a0972aefc29bc76f255edcb561f2801b1 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac18ac8266f0836d8ffd93e393bbcc879 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual PxArticulationJointImpl *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#ac18ac8266f0836d8ffd93e393bbcc879">getImpl</a> ()=0</td></tr>
<tr class="separator:ac18ac8266f0836d8ffd93e393bbcc879 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeafe4353ee9aebc9d8c222b61c1d9550 inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual const PxArticulationJointImpl *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#aeafe4353ee9aebc9d8c222b61c1d9550">getImpl</a> () const =0</td></tr>
<tr class="separator:aeafe4353ee9aebc9d8c222b61c1d9550 inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afefce115db74c3bcfbc3f3052e18f14d inherit pub_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#afefce115db74c3bcfbc3f3052e18f14d">~PxArticulationJointBase</a> ()</td></tr>
<tr class="separator:afefce115db74c3bcfbc3f3052e18f14d inherit pub_methods_classPxArticulationJointBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classPxBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPxBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPxBase.html">PxBase</a></td></tr>
<tr class="memitem:afe6aedda1df0d6d29b1a28213a5ee25a inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#afe6aedda1df0d6d29b1a28213a5ee25a">release</a> ()=0</td></tr>
<tr class="memdesc:afe6aedda1df0d6d29b1a28213a5ee25a inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Releases the <a class="el" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. ">PxBase</a> instance, please check documentation of release in derived class.  <a href="classPxBase.html#afe6aedda1df0d6d29b1a28213a5ee25a">More...</a><br /></td></tr>
<tr class="separator:afe6aedda1df0d6d29b1a28213a5ee25a inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">T *&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a4bc720adef86ea68bfb5845f0e104d23">is</a> ()</td></tr>
<tr class="separator:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">const T *&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a85aa50ac0e5670a2be64411fea62b5e3">is</a> () const</td></tr>
<tr class="separator:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#ab4e0691a08e49631dc60014d49c7585f">getConcreteType</a> () const</td></tr>
<tr class="memdesc:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns concrete type of object.  <a href="classPxBase.html#ab4e0691a08e49631dc60014d49c7585f">More...</a><br /></td></tr>
<tr class="separator:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a1dd20bb574075df904e1878f2e771ef9">setBaseFlag</a> (<a class="el" href="structPxBaseFlag.html#ac258de0c7adaa37f81b6ab1b0c86a6ee">PxBaseFlag::Enum</a> flag, bool value)</td></tr>
<tr class="memdesc:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set <a class="el" href="structPxBaseFlag.html" title="Flags for PxBase. ">PxBaseFlag</a>.  <a href="classPxBase.html#a1dd20bb574075df904e1878f2e771ef9">More...</a><br /></td></tr>
<tr class="separator:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#afb391b692c561df0a54c413785e4ebd0">setBaseFlags</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> inFlags)</td></tr>
<tr class="memdesc:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set PxBaseFlags.  <a href="classPxBase.html#afb391b692c561df0a54c413785e4ebd0">More...</a><br /></td></tr>
<tr class="separator:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#ad9b10efae7733ff9c8b8d3b7d90a9a5f">getBaseFlags</a> () const</td></tr>
<tr class="memdesc:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns PxBaseFlags.  <a href="classPxBase.html#ad9b10efae7733ff9c8b8d3b7d90a9a5f">More...</a><br /></td></tr>
<tr class="separator:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38952fcb80e99f1f5dbf774a75ac2c3d inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a38952fcb80e99f1f5dbf774a75ac2c3d">isReleasable</a> () const</td></tr>
<tr class="memdesc:a38952fcb80e99f1f5dbf774a75ac2c3d inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether the object is subordinate.  <a href="classPxBase.html#a38952fcb80e99f1f5dbf774a75ac2c3d">More...</a><br /></td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a8ecb6fb89ec7e18314cfc9c6b255bd41"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a8ecb6fb89ec7e18314cfc9c6b255bd41">PxArticulationJoint</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
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<tr class="memitem:a830694ba6d6b8bbe5dfdc71f446bac54"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a830694ba6d6b8bbe5dfdc71f446bac54">PxArticulationJoint</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
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<tr class="memitem:a2a73babb0e7aa037d07132980281f302"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a2a73babb0e7aa037d07132980281f302">~PxArticulationJoint</a> ()</td></tr>
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<tr class="memitem:a9c6e996a3fbd7abf27ab8e3cabe65d38"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a9c6e996a3fbd7abf27ab8e3cabe65d38">isKindOf</a> (const char *name) const</td></tr>
<tr class="memdesc:a9c6e996a3fbd7abf27ab8e3cabe65d38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether a given type name matches with the type of this instance.  <a href="#a9c6e996a3fbd7abf27ab8e3cabe65d38">More...</a><br /></td></tr>
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<tr class="inherit_header pro_methods_classPxArticulationJointBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classPxArticulationJointBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classPxArticulationJointBase.html">PxArticulationJointBase</a></td></tr>
<tr class="memitem:aac7d969924423782bca5c78f9b10ca04 inherit pro_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#aac7d969924423782bca5c78f9b10ca04">PxArticulationJointBase</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
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<tr class="memitem:ac393f6100547e633015e60a0113d7dbf inherit pro_methods_classPxArticulationJointBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJointBase.html#ac393f6100547e633015e60a0113d7dbf">PxArticulationJointBase</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
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<tr class="memitem:a263f1ef821c74058ce9335e06cb842a4 inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a263f1ef821c74058ce9335e06cb842a4">PxBase</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="memdesc:a263f1ef821c74058ce9335e06cb842a4 inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor setting concrete type and base flags.  <a href="classPxBase.html#a263f1ef821c74058ce9335e06cb842a4">More...</a><br /></td></tr>
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<tr class="memitem:adfbf62dc32775b068db1c74c7fd3d982 inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#adfbf62dc32775b068db1c74c7fd3d982">~PxBase</a> ()</td></tr>
<tr class="memdesc:adfbf62dc32775b068db1c74c7fd3d982 inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="classPxBase.html#adfbf62dc32775b068db1c74c7fd3d982">More...</a><br /></td></tr>
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<tr class="memitem:a3782ca64c8f12c41443f604e300fc207 inherit pro_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a3782ca64c8f12c41443f604e300fc207 inherit pro_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a3782ca64c8f12c41443f604e300fc207">typeMatch</a> () const</td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_attribs_classPxBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classPxBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classPxBase.html">PxBase</a></td></tr>
<tr class="memitem:a1abe9d19726e1f8f8e56abeb2269b5d4 inherit pro_attribs_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a1abe9d19726e1f8f8e56abeb2269b5d4">mConcreteType</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>a joint between two links in an articulation. </p>
<p>The joint model is very similar to a <a class="el" href="classPxSphericalJoint.html" title="A joint which behaves in a similar way to a ball and socket. ">PxSphericalJoint</a> with swing and twist limits, and an implicit drive model.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulation.html" title="a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...">PxArticulation</a> <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body ">PxArticulationLink</a> </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ecb6fb89ec7e18314cfc9c6b255bd41">&#9670;&nbsp;</a></span>PxArticulationJoint() <span class="overload">[1/2]</span></h2>

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          <td>(</td>
          <td class="paramtype"><a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td>
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          <td class="paramtype"><a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a830694ba6d6b8bbe5dfdc71f446bac54">&#9670;&nbsp;</a></span>PxArticulationJoint() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> PxArticulationJoint::PxArticulationJoint </td>
          <td>(</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a2a73babb0e7aa037d07132980281f302">&#9670;&nbsp;</a></span>~PxArticulationJoint()</h2>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8516e8495e829c17c190bf1a013d6f7a">&#9670;&nbsp;</a></span>getConcreteTypeName()</h2>

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<p>Returns string name of dynamic type. </p>
<dl class="section return"><dt>Returns</dt><dd>Class name of most derived type of this object. </dd></dl>

<p>Implements <a class="el" href="classPxBase.html#a67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a153604ccd3174c8bb417dc83a06bf2da">&#9670;&nbsp;</a></span>getDamping()</h2>

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<p>get the damping of the joint acceleration spring </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ae9a7c940a51ae6df5e7e2370692a1f4b" title="set the damping of the joint acceleration spring ">setDamping()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4ce41d3bb9b9431cc9c7befa5be8047b">&#9670;&nbsp;</a></span>getDriveType()</h2>

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<p>get the drive type </p>
<dl class="section return"><dt>Returns</dt><dd>the drive type</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ad9ca201e90b380133e8913fb756a52e2" title="set the drive type ">setDriveType()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a69ecdfb49624645217280df2430009e5">&#9670;&nbsp;</a></span>getExternalCompliance()</h2>

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<p>get the drive external compliance </p>
<dl class="section return"><dt>Returns</dt><dd>the compliance to external forces</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#acba73835e3bdfb85a362e59ba979a959" title="get the drive external compliance ">setExternalCompliance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac773f11ee13400595c0392e027f9a0a2">&#9670;&nbsp;</a></span>getInternalCompliance()</h2>

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<p>get the internal compliance </p>
<dl class="section return"><dt>Returns</dt><dd>the compliance to internal forces</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a023d58f64e1e29a984beb935ca2a4f54" title="set the internal compliance ">setInternalCompliance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae11979e97274ce2fa604db8615dc5b71">&#9670;&nbsp;</a></span>getStiffness()</h2>

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<p>get the drive strength of the joint acceleration spring </p>
<dl class="section return"><dt>Returns</dt><dd>the spring strength of the joint</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ae00f55560d4d4b78a20d97b20e39dafb" title="set the drive strength of the joint acceleration spring. ">setStiffness()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a04c80251726b0706cc85960d6c960a6d">&#9670;&nbsp;</a></span>getSwingLimit()</h2>

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          <td class="memname">virtual void PxArticulationJoint::getSwingLimit </td>
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          <td class="paramtype">PxReal &amp;&#160;</td>
          <td class="paramname"><em>zLimit</em>, </td>
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          <td class="paramname"><em>yLimit</em>&#160;</td>
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<p>get the extents for the swing limit cone </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">zLimit</td><td>the allowed extent of rotation around the z-axis </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">yLimit</td><td>the allowed extent of rotation around the y-axis</td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>Please note the order of zLimit and yLimit.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a12544e79ee2ef6ff061e6a3a9e1e65c8" title="set the extents of the cone limit. The extents are measured in the frame of the parent. ">setSwingLimit()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a71c9ff63ac915714b595c184846546a2">&#9670;&nbsp;</a></span>getSwingLimitContactDistance()</h2>

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<p>get the contact distance for the swing limit </p>
<dl class="section return"><dt>Returns</dt><dd>the contact distance for the swing limit cone</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a909101d144f45f8fd8fbf1e2f01f9072" title="set the contact distance for the swing limit ">setSwingLimitContactDistance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a01b0447f6c84cdc547f9abd7df7c717c">&#9670;&nbsp;</a></span>getSwingLimitEnabled()</h2>

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<p>get the flag which enables the swing limit </p>
<dl class="section return"><dt>Returns</dt><dd>whether the swing limit is enabled</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ac8f06505ec2b8bd187124008f428ce1e" title="set the flag which enables the swing limit ">setSwingLimitEnabled()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a2d30be935dca3002fa865c258ded66e5">&#9670;&nbsp;</a></span>getTangentialDamping()</h2>

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<p>get the tangential damping for the swing limit cone </p>
<dl class="section return"><dt>Returns</dt><dd>the tangential damping</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a9ba1951c929b003bf57dcea26756bf9f" title="set the tangential damping for the limit cone  Range: ([0, PX_MAX_F32), [0, PX_MAX_F32))  Default: (0...">setTangentialDamping()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a6b48e04c7a64696142a227a971410095">&#9670;&nbsp;</a></span>getTangentialStiffness()</h2>

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<p>get the tangential spring for the swing limit cone </p>
<dl class="section return"><dt>Returns</dt><dd>the tangential spring</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#adf1f03b5945c8db6103f6529736af5a8" title="set the tangential spring for the limit cone  Range: ([0, PX_MAX_F32), [0, PX_MAX_F32))  Default: (0...">setTangentialStiffness()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4705fe257b6620f399081f52c13ffd25">&#9670;&nbsp;</a></span>getTargetOrientation()</h2>

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<p>get the target drive position </p>
<dl class="section return"><dt>Returns</dt><dd>the joint drive target position</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ac6f12118dc05485815cbe08df956b05c" title="set the target drive ">setTargetOrientation()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa58bb8f6d97492b4ab1b5c2708fb471f">&#9670;&nbsp;</a></span>getTargetVelocity()</h2>

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<p>get the target drive velocity </p>
<dl class="section return"><dt>Returns</dt><dd>the target velocity for the joint</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a469427827733f35ba286f88b0e48984d" title="set the target drive velocity ">setTargetVelocity()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aaf8d7d469a142c4375b333f159c9ca5b">&#9670;&nbsp;</a></span>getTwistLimit()</h2>

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          <td class="paramname"><em>lower</em>, </td>
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          <td class="paramname"><em>upper</em>&#160;</td>
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<p>get the bounds of the twistLimit </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">lower</td><td>the lower extent of the twist limit </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">upper</td><td>the upper extent of the twist limit</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ae3fc7d9b7c327b897a0a33c1844f03c4" title="set the bounds of the twistLimit ">setTwistLimit()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acc1318e01659cd325fae18a2cd482bdb">&#9670;&nbsp;</a></span>getTwistLimitContactDistance()</h2>

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<p>get the contact distance for the swing limit </p>
<dl class="section return"><dt>Returns</dt><dd>the contact distance for the twist limit</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#af9c9a92beaf042f7ad7bb3bf95c34b96" title="set the contact distance for the swing limit ">setTwistLimitContactDistance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a32aea69d3b9a65c654581a8b55e4f6f1">&#9670;&nbsp;</a></span>getTwistLimitEnabled()</h2>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>get the twistLimitEnabled flag </p>
<dl class="section return"><dt>Returns</dt><dd>whether the twist limit is enabled</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ab0d113b6b62dc07cd06c4d6341ce0608" title="set the flag which enables the twist limit ">setTwistLimitEnabled()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9c6e996a3fbd7abf27ab8e3cabe65d38">&#9670;&nbsp;</a></span>isKindOf()</h2>

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<p>Returns whether a given type name matches with the type of this instance. </p>

<p>Reimplemented from <a class="el" href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d">PxArticulationJointBase</a>.</p>

<p class="reference">References <a class="el" href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d">PxArticulationJointBase::isKindOf()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae9a7c940a51ae6df5e7e2370692a1f4b">&#9670;&nbsp;</a></span>setDamping()</h2>

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          <td class="paramname"><em>damping</em></td><td>)</td>
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<p>set the damping of the joint acceleration spring </p>
<p>The acceleration generated by the spring drive is proportional to this value and the difference between the angular velocity of the joint and the target drive velocity.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damping</td><td>the damping of the joint drive <b>Range:</b> [0, PX_MAX_F32)<br />
 <b>Default:</b> 0.0</td></tr>
  </table>
  </dd>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a153604ccd3174c8bb417dc83a06bf2da" title="get the damping of the joint acceleration spring ">getDamping()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad9ca201e90b380133e8913fb756a52e2">&#9670;&nbsp;</a></span>setDriveType()</h2>

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          <td class="paramtype"><a class="el" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a>&#160;</td>
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<p>set the drive type </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">driveType</td><td>the drive type for the joint <b>Default:</b> <a class="el" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2a6efbffee5445ed12550a3cb4f1e1cd9e">PxArticulationJointDriveType::eTARGET</a></td></tr>
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  </dd>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a4ce41d3bb9b9431cc9c7befa5be8047b" title="get the drive type ">getDriveType()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acba73835e3bdfb85a362e59ba979a959">&#9670;&nbsp;</a></span>setExternalCompliance()</h2>

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          <td class="paramname"><em>compliance</em></td><td>)</td>
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<p>get the drive external compliance </p>
<p>Compliance determines the extent to which the joint resists acceleration.</p>
<p>There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.</p>
<p>A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">compliance</td><td>the compliance to external forces <b> Range: (0, 1]</b> <b> Default:</b> 0.0</td></tr>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a69ecdfb49624645217280df2430009e5" title="get the drive external compliance ">getExternalCompliance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a023d58f64e1e29a984beb935ca2a4f54">&#9670;&nbsp;</a></span>setInternalCompliance()</h2>

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<p>set the internal compliance </p>
<p>Compliance determines the extent to which the joint resists acceleration.</p>
<p>There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.</p>
<p>A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">compliance</td><td>the compliance to internal forces <b> Range: (0, 1]</b> <b> Default:</b> 0.0</td></tr>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ac773f11ee13400595c0392e027f9a0a2" title="get the internal compliance ">getInternalCompliance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae00f55560d4d4b78a20d97b20e39dafb">&#9670;&nbsp;</a></span>setStiffness()</h2>

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<p>set the drive strength of the joint acceleration spring. </p>
<p>The acceleration generated by the spring drive is proportional to this value and the angle between the drive target position and the current position.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">spring</td><td>the spring strength of the joint <b>Range:</b> [0, PX_MAX_F32)<br />
 <b>Default:</b> 0.0</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#ae11979e97274ce2fa604db8615dc5b71" title="get the drive strength of the joint acceleration spring ">getStiffness()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a12544e79ee2ef6ff061e6a3a9e1e65c8">&#9670;&nbsp;</a></span>setSwingLimit()</h2>

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          <td class="memname">virtual void PxArticulationJoint::setSwingLimit </td>
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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>zLimit</em>, </td>
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          <td class="paramname"><em>yLimit</em>&#160;</td>
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<p>set the extents of the cone limit. The extents are measured in the frame of the parent. </p>
<p>Note that very small or highly elliptical limit cones may result in jitter.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">zLimit</td><td>the allowed extent of rotation around the z-axis </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">yLimit</td><td>the allowed extent of rotation around the y-axis <b> Range:</b> ( (0, Pi), (0, Pi) ) <b> Default:</b> (Pi/4, Pi/4)</td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>Please note the order of zLimit and yLimit. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a909101d144f45f8fd8fbf1e2f01f9072">&#9670;&nbsp;</a></span>setSwingLimitContactDistance()</h2>

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          <td class="memname">virtual void PxArticulationJoint::setSwingLimitContactDistance </td>
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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>contactDistance</em></td><td>)</td>
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<p>set the contact distance for the swing limit </p>
<p>The contact distance should be less than either limit angle.</p>
<p><b> Range:</b> [0, Pi] <b> Default:</b> 0.05 radians</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a71c9ff63ac915714b595c184846546a2" title="get the contact distance for the swing limit ">getSwingLimitContactDistance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac8f06505ec2b8bd187124008f428ce1e">&#9670;&nbsp;</a></span>setSwingLimitEnabled()</h2>

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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>enabled</em></td><td>)</td>
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<p>set the flag which enables the swing limit </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">enabled</td><td>whether the limit is enabled <b>Default:</b> false</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a01b0447f6c84cdc547f9abd7df7c717c" title="get the flag which enables the swing limit ">getSwingLimitEnabled()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9ba1951c929b003bf57dcea26756bf9f">&#9670;&nbsp;</a></span>setTangentialDamping()</h2>

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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>damping</em></td><td>)</td>
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<p>set the tangential damping for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#adf1f03b5945c8db6103f6529736af5a8">&#9670;&nbsp;</a></span>setTangentialStiffness()</h2>

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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>spring</em></td><td>)</td>
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<p>set the tangential spring for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac6f12118dc05485815cbe08df956b05c">&#9670;&nbsp;</a></span>setTargetOrientation()</h2>

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          <td class="paramtype">const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;&#160;</td>
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<p>set the target drive </p>
<p>This is the target position for the joint drive, measured in the parent constraint frame.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the target orientation for the joint <b>Range:</b> a unit quaternion <b>Default:</b> the identity quaternion</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a4705fe257b6620f399081f52c13ffd25" title="get the target drive position ">getTargetOrientation()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a469427827733f35ba286f88b0e48984d">&#9670;&nbsp;</a></span>setTargetVelocity()</h2>

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          <td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;&#160;</td>
          <td class="paramname"><em>velocity</em></td><td>)</td>
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<p>set the target drive velocity </p>
<p>This is the target velocity for the joint drive, measured in the parent constraint frame</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">velocity</td><td>the target velocity for the joint <b>Default:</b> the zero vector</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#aa58bb8f6d97492b4ab1b5c2708fb471f" title="get the target drive velocity ">getTargetVelocity()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae3fc7d9b7c327b897a0a33c1844f03c4">&#9670;&nbsp;</a></span>setTwistLimit()</h2>

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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>lower</em>, </td>
        </tr>
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          <td class="paramname"><em>upper</em>&#160;</td>
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          <td>)</td>
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<p>set the bounds of the twistLimit </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">lower</td><td>the lower extent of the twist limit </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">upper</td><td>the upper extent of the twist limit <b> Range: (-Pi, Pi)</b> <b> Default:</b> (-Pi/4, Pi/4)</td></tr>
  </table>
  </dd>
</dl>
<p>The lower limit value must be less than the upper limit if the limit is enabled</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#aaf8d7d469a142c4375b333f159c9ca5b" title="get the bounds of the twistLimit ">getTwistLimit()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#af9c9a92beaf042f7ad7bb3bf95c34b96">&#9670;&nbsp;</a></span>setTwistLimitContactDistance()</h2>

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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>contactDistance</em></td><td>)</td>
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<p>set the contact distance for the swing limit </p>
<p>The contact distance should be less than half the distance between the upper and lower limits.</p>
<p><b> Range:</b> [0, Pi) <b> Default:</b> 0.05 radians</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#acc1318e01659cd325fae18a2cd482bdb" title="get the contact distance for the swing limit ">getTwistLimitContactDistance()</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab0d113b6b62dc07cd06c4d6341ce0608">&#9670;&nbsp;</a></span>setTwistLimitEnabled()</h2>

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          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>enabled</em></td><td>)</td>
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<p>set the flag which enables the twist limit </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">enabled</td><td>whether the twist limit is enabled <b>Default:</b> false</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html#a32aea69d3b9a65c654581a8b55e4f6f1" title="get the twistLimitEnabled flag ">getTwistLimitEnabled()</a> </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
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